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<div class="title">DrawList.h</div>  </div>
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<a href="../../df/d65/_draw_list_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#ifndef PROJECT_DRAWLIST_H</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#define PROJECT_DRAWLIST_H</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../dd/ddf/_checkerboard_8h.html">Checkerboard.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/daf/_collision_plane_8h.html">Collision/CollisionPlane.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../dc/daa/_colors_8h.html">Colors.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d52/_dynamics_simulator_8h.html">Dynamics/DynamicsSimulator.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d5/d9a/_floating_base_model_8h.html">Dynamics/FloatingBaseModel.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/dc8/spatial_8h.html">Dynamics/spatial.h</a>&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../df/d0d/_visualization_data_8h.html">SimUtilities/VisualizationData.h</a>&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/d01/obj__loader_8h.html">obj_loader.h</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d6/dff/sim__utilities_8h.html">sim_utilities.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;QMatrix4x4&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../d3/d7a/class_box_info.html">   31</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d3/d7a/class_box_info.html">BoxInfo</a> {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../d3/d7a/class_box_info.html#a71d33a11829ce75ed6a2e3020dccf9fa">   33</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="../../d3/d7a/class_box_info.html#a5a645c5f04daa64c3a45112b8e654bf9">depth</a>, <a class="code" href="../../d3/d7a/class_box_info.html#a71d33a11829ce75ed6a2e3020dccf9fa">width</a>, <a class="code" href="../../d3/d7a/class_box_info.html#af35d62dc18d3545d719a67132a314315">height</a>;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">   34</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">frame</a>[16];  <span class="comment">// SE3</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                    <span class="comment">/*</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">                       T[0] T[4] T[8]  T[12]</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">                       T[1] T[5] T[9]  T[13]</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">                       T[2] T[6] T[10] T[14]</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">                       T[3] T[7] T[11] T[15] = (0, 0, 0, 1)</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">                       */</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;};</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="../../d9/da5/struct_solid_color.html">   43</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d9/da5/struct_solid_color.html">SolidColor</a> {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">   45</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> <a class="code" href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">rgba</a>;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">   46</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">useSolidColor</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;};</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html">   49</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/d03/class_draw_list.html">DrawList</a> {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#abd0bda993bf3d65a019abe27efbad85e">   51</a></span>&#160;  <a class="code" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a> *<a class="code" href="../../d1/d03/class_draw_list.html#abd0bda993bf3d65a019abe27efbad85e">_visualizationData</a>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a7e534d8c347988e376edebd04a5a7914">   53</a></span>&#160;  <a class="code" href="../../d1/d03/class_draw_list.html#a7e534d8c347988e376edebd04a5a7914">DrawList</a>() {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    _cameraOrigin = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;::Zero</a>();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    loadFiles();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">size_t</span> addCheetah3(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> color, <span class="keywordtype">bool</span> useOld);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">size_t</span> addMiniCheetah(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> color, <span class="keywordtype">bool</span> useOld);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">void</span> buildDrawList();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> loadFiles();</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">size_t</span> addCheckerboard(<a class="code" href="../../df/d89/class_checkerboard.html">Checkerboard</a> &amp;checkerBoard);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">size_t</span> addDebugSphere(<span class="keywordtype">float</span> radius);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">void</span> addBox(<span class="keywordtype">double</span> <a class="code" href="../../d3/d7a/class_box_info.html#a5a645c5f04daa64c3a45112b8e654bf9">depth</a>, <span class="keywordtype">double</span> <a class="code" href="../../d3/d7a/class_box_info.html#a71d33a11829ce75ed6a2e3020dccf9fa">width</a>, <span class="keywordtype">double</span> <a class="code" href="../../d3/d7a/class_box_info.html#af35d62dc18d3545d719a67132a314315">height</a>,</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;              <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> &amp;pos, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;double&gt;</a> &amp;<a class="code" href="../../da/d9b/namespaceori.html">ori</a>,</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;              <span class="keywordtype">bool</span> transparent);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">void</span> addMesh(<span class="keywordtype">double</span> grid_size, <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> &amp;left_corner,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;               <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;double&gt;</a> &amp;height_map, <span class="keywordtype">bool</span> transparent);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a28c47507efc9fd58fdf8ee6488b594f3">   72</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a28c47507efc9fd58fdf8ee6488b594f3">resize</a>(<span class="keywordtype">size_t</span> nUniqueObject, <span class="keywordtype">size_t</span> nTotalObjects) {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    _nUnique = nUniqueObject;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    _nTotal = nTotalObjects;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    _vertexData.resize(nUniqueObject);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    _normalData.resize(nUniqueObject);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    _colorData.resize(nUniqueObject);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    _offsetXforms.resize(nUniqueObject);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    _objectMap.resize(nTotalObjects);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ac5b1d94476402e453f2b3446ed846edc">   85</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#ac5b1d94476402e453f2b3446ed846edc">getNumObjectsToDraw</a>() { <span class="keywordflow">return</span> _nTotal; }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ae20412e460d33e4dded35cb43818ae17">   93</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#ae20412e460d33e4dded35cb43818ae17">getGLDrawArrayOffset</a>(<span class="keywordtype">size_t</span> i) {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">return</span> _glArrayOffsets.at(_objectMap.at(i));</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a2c6f1f169cca762878ec1a46e4dbfcba">  100</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#a2c6f1f169cca762878ec1a46e4dbfcba">getGLDrawArraySize</a>(<span class="keywordtype">size_t</span> i) {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">return</span> _glArraySizes.at(_objectMap.at(i));</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#abd07faa05bc696fb43bd0fdb9467dfe5">  108</a></span>&#160;  <span class="keywordtype">float</span> *<a class="code" href="../../d1/d03/class_draw_list.html#abd07faa05bc696fb43bd0fdb9467dfe5">getVertexArray</a>() { <span class="keywordflow">return</span> _glVertexData.data(); }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#aab9869265b6079694a8dd5c42a17c567">  114</a></span>&#160;  <span class="keywordtype">float</span> *<a class="code" href="../../d1/d03/class_draw_list.html#aab9869265b6079694a8dd5c42a17c567">getNormalArray</a>() { <span class="keywordflow">return</span> _glNormalData.data(); }</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a0c41b0aa912c97b04b58c6fcedcb34a0">  116</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="../../d1/d03/class_draw_list.html#a0c41b0aa912c97b04b58c6fcedcb34a0">getSizeOfAllData</a>() { <span class="keywordflow">return</span> _glVertexData.size(); }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#aaee2e45bbb2e8a546feafbedf967d034">  121</a></span>&#160;  <span class="keywordtype">float</span> *<a class="code" href="../../d1/d03/class_draw_list.html#aaee2e45bbb2e8a546feafbedf967d034">getColorArray</a>() { <span class="keywordflow">return</span> _glColorData.data(); }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#acaddb6c8d3e5dae59c9c6cf7b0ba1e00">  128</a></span>&#160;  QMatrix4x4 &amp;<a class="code" href="../../d1/d03/class_draw_list.html#acaddb6c8d3e5dae59c9c6cf7b0ba1e00">getModelBaseTransform</a>(<span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> _modelOffsets[i]; }</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#abb4874ec78af884a830aef981e580137">  134</a></span>&#160;  QMatrix4x4 &amp;<a class="code" href="../../d1/d03/class_draw_list.html#abb4874ec78af884a830aef981e580137">getModelKinematicTransform</a>(<span class="keywordtype">size_t</span> i) {</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">return</span> _kinematicXform[i];</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a09d57d9873d31279ece2cedd6a69cde8">  142</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d1/d03/class_draw_list.html#a09d57d9873d31279ece2cedd6a69cde8">getGLDataSizeMB</a>() {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">size_t</span> bytes =</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        _glColorData.size() + _glNormalData.size() + _glVertexData.size();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    bytes = bytes * <span class="keyword">sizeof</span>(float);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">return</span> (<span class="keywordtype">float</span>)bytes / float(1 &lt;&lt; 20);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  }</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a55249ea44dfcabccd883215d9132a11c">  153</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d1/d03/class_draw_list.html#a55249ea44dfcabccd883215d9132a11c">needsReload</a>() {</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (_reloadNeeded) {</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      _reloadNeeded = <span class="keyword">false</span>;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#afab0fbc56961ba8e101a2b28188efd98">  170</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#afab0fbc56961ba8e101a2b28188efd98">updateRobotFromModel</a>(<a class="code" href="../../d7/d9c/class_dynamics_simulator.html">DynamicsSimulator&lt;T&gt;</a> &amp;model, <span class="keywordtype">size_t</span> <span class="keywordtype">id</span>,</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                            <span class="keywordtype">bool</span> updateOrigin = <span class="keyword">false</span>) {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> modelID = 5, graphicsID = <span class="keywordtype">id</span>; modelID &lt; model.<a class="code" href="../../d7/d9c/class_dynamics_simulator.html#ada9c734b42dee7273707d5b0f2f8ddd7">getNumBodies</a>();</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;         modelID++, graphicsID++) {</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      _kinematicXform.at(graphicsID) =</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <a class="code" href="../../d6/dff/sim__utilities_8h.html#a0f56070ba183dd4f6f435a4619134429">spatialTransformToQT</a>(model.<a class="code" href="../../d7/d9c/class_dynamics_simulator.html#a560cb59e43a731fd2a8bb4f54b4086bd">getModel</a>()._Xa.at(modelID));</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    }</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordflow">if</span> (updateOrigin) {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      _cameraOrigin = model.<a class="code" href="../../d7/d9c/class_dynamics_simulator.html#a72892f39ed60e2f50df53ea49ffb6433">getState</a>().bodyPosition.template cast&lt;T&gt;();</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    }</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a551da4edf5a5774dcc79bf6e0edf2b2c">  191</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a551da4edf5a5774dcc79bf6e0edf2b2c">updateAdditionalInfo</a>(<a class="code" href="../../d7/d9c/class_dynamics_simulator.html">DynamicsSimulator&lt;T&gt;</a> &amp;model) {</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">if</span> (_additionalInfoFirstVisit) {</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      _nTotalGC = model.<a class="code" href="../../d7/d9c/class_dynamics_simulator.html#a2b183b6e004182044db7e31eb807e6f4">getTotalNumGC</a>();</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      _cp_touch.resize(_nTotalGC, <span class="keyword">false</span>);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      _cp_pos.resize(_nTotalGC);</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      _cp_force.resize(_nTotalGC);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      std::vector&lt;double&gt; tmp(3);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; _nTotalGC; ++i) {</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        _cp_pos[i] = tmp;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        _cp_force[i] = tmp;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      }</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      _additionalInfoFirstVisit = <span class="keyword">false</span>;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    }</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; _nTotalGC; ++i) {</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="comment">// TODO: check touch boolean</span></div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      _cp_touch[i] = <span class="keyword">true</span>;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j(0); j &lt; 3; ++j) {</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        _cp_pos[i][j] = model.<a class="code" href="../../d7/d9c/class_dynamics_simulator.html#a560cb59e43a731fd2a8bb4f54b4086bd">getModel</a>()._pGC[i][j];</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        _cp_force[i][j] = model.<a class="code" href="../../d7/d9c/class_dynamics_simulator.html#a9afb9649511f0eb19f953bf470d80252">getContactForce</a>(i)[j];</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    }</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  }</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a7f1af5bbb384f1298b9b0a651576f2c9">  222</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a7f1af5bbb384f1298b9b0a651576f2c9">updateCheckerboardFromCollisionPlane</a>(<a class="code" href="../../d4/d38/class_collision_plane.html">CollisionPlane&lt;T&gt;</a> &amp;model,</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                                            <span class="keywordtype">size_t</span> <span class="keywordtype">id</span>) {</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="comment">// Mat4&lt;T&gt; H = sxformToHomogeneous(model.getLocation());</span></div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    _kinematicXform.at(<span class="keywordtype">id</span>) = <a class="code" href="../../d6/dff/sim__utilities_8h.html#a0f56070ba183dd4f6f435a4619134429">spatialTransformToQT</a>(model.getLocation());</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ae3f55365bc72bedb51b835533c515861">  229</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#ae3f55365bc72bedb51b835533c515861">updateCheckerboard</a>(T height, <span class="keywordtype">size_t</span> <span class="keywordtype">id</span>) {</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    QMatrix4x4 H;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    H.setToIdentity();</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    H.translate(0., 0., height);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    _kinematicXform.at(<span class="keywordtype">id</span>) = H;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  }</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a055ac7767e2fc4647a95b3118f975bbf">  237</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a055ac7767e2fc4647a95b3118f975bbf">updateDebugSphereLocation</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> &amp;position, <span class="keywordtype">size_t</span> <span class="keywordtype">id</span>) {</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    QMatrix4x4 H;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    H.setToIdentity();</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    H.translate(position[0], position[1], position[2]);</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    _kinematicXform.at(<span class="keywordtype">id</span>) = H;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  }</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a16f13d471f1d2559b64e204b4e686589">  247</a></span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="../../d1/d03/class_draw_list.html#a16f13d471f1d2559b64e204b4e686589">setSolidColor</a>(std::vector&lt;float&gt; &amp;data, <span class="keywordtype">size_t</span> size, <span class="keywordtype">float</span> r,</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                            <span class="keywordtype">float</span> g, <span class="keywordtype">float</span> b) {</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    data.clear();</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    data.resize(size);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">if</span> ((size % 3) != 0) {</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;setSolidColor invalid size&quot;</span>);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    }</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; size / 3; i++) {</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      data[i * 3 + 0] = r;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      data[i * 3 + 1] = g;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      data[i * 3 + 2] = b;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    }</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  }</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="comment">/* Get Functions */</span></div><div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a1e061a3a3e49ebfa5cda903410138397">  264</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> &amp;<a class="code" href="../../d1/d03/class_draw_list.html#a1e061a3a3e49ebfa5cda903410138397">getTotalNumGC</a>() { <span class="keywordflow">return</span> _nTotalGC; }</div><div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ae4b99509d0985cf5302c0ce09e6eb715">  265</a></span>&#160;  <span class="keyword">const</span> std::vector&lt;double&gt; &amp;<a class="code" href="../../d1/d03/class_draw_list.html#ae4b99509d0985cf5302c0ce09e6eb715">getGCPos</a>(<span class="keywordtype">size_t</span> idx) { <span class="keywordflow">return</span> _cp_pos[idx]; }</div><div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a0c2c941704b8e8099f5dc4fb7f2d13f9">  266</a></span>&#160;  <span class="keyword">const</span> std::vector&lt;double&gt; &amp;<a class="code" href="../../d1/d03/class_draw_list.html#a0c2c941704b8e8099f5dc4fb7f2d13f9">getGCForce</a>(<span class="keywordtype">size_t</span> idx) { <span class="keywordflow">return</span> _cp_force[idx]; }</div><div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a394291a36ef4635a0c1ae25462d8ac5b">  267</a></span>&#160;  <span class="keyword">const</span> std::vector&lt;BoxInfo&gt; &amp;<a class="code" href="../../d1/d03/class_draw_list.html#a394291a36ef4635a0c1ae25462d8ac5b">getBoxInfoList</a>() { <span class="keywordflow">return</span> _box_list; }</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;</div><div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ae2b3381013216191dbfe884adf21c0dd">  269</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;double&gt;</a> &amp;<a class="code" href="../../d1/d03/class_draw_list.html#ae2b3381013216191dbfe884adf21c0dd">getHeightMap</a>() { <span class="keywordflow">return</span> _height_map; }</div><div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a9638d3da87f1198fdcb32d2b624f937d">  270</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> &amp;<a class="code" href="../../d1/d03/class_draw_list.html#a9638d3da87f1198fdcb32d2b624f937d">getHeightMapLeftCorner</a>() {</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keywordflow">return</span> _height_map_left_corner;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  }</div><div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ab7f8da510907ff8c2a00488dba9f1631">  273</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;<a class="code" href="../../d1/d03/class_draw_list.html#ab7f8da510907ff8c2a00488dba9f1631">getHeightMapMax</a>() { <span class="keywordflow">return</span> _height_map_max; }</div><div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a669c697866c96ab734e134811f047afc">  274</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;<a class="code" href="../../d1/d03/class_draw_list.html#a669c697866c96ab734e134811f047afc">getHeightMapMin</a>() { <span class="keywordflow">return</span> _height_map_min; }</div><div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a1da39873b6f2f1c605c49678247e23e0">  275</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;<a class="code" href="../../d1/d03/class_draw_list.html#a1da39873b6f2f1c605c49678247e23e0">getGridSize</a>() { <span class="keywordflow">return</span> _grid_size; }</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div><div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#acdf51fca776b0e13bdbb756e40741442">  277</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> &amp;<a class="code" href="../../d1/d03/class_draw_list.html#acdf51fca776b0e13bdbb756e40741442">getCameraOrigin</a>() { <span class="keywordflow">return</span> _cameraOrigin; }</div><div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">  278</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;SolidColor&gt;</a> <a class="code" href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">_instanceColor</a>;</div><div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">  279</a></span>&#160;  std::vector&lt;QMatrix4x4&gt; <a class="code" href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">_kinematicXform</a>;</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ab241d86da769852f39be6c5fb4018b9a">  282</a></span>&#160;  <span class="keywordtype">size_t</span> _nUnique = 0, _nTotal = 0;</div><div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">  283</a></span>&#160;  std::vector&lt;std::vector&lt;float&gt;&gt; <a class="code" href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">_vertexData</a>;</div><div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">  284</a></span>&#160;  std::vector&lt;std::vector&lt;float&gt;&gt; <a class="code" href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">_normalData</a>;</div><div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">  285</a></span>&#160;  std::vector&lt;std::vector&lt;float&gt;&gt; <a class="code" href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">_colorData</a>;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned&lt;Mat4&lt;float&gt;</a>&gt;</div><div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a833836ab4d537a8f3ba6a671b1b39b47">  287</a></span>&#160;      <a class="code" href="../../d1/d03/class_draw_list.html#a833836ab4d537a8f3ba6a671b1b39b47">_offsetXforms</a>;  <span class="comment">// these are NOT coordinate transformations!</span></div><div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#af816f551087099f49eb2cadd26ce0d05">  288</a></span>&#160;  std::string _baseFileName = <span class="stringliteral">&quot;../resources/&quot;</span>;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">  290</a></span>&#160; 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 std::vector&lt;float&gt; <a class="code" href="../../d1/d03/class_draw_list.html#ac33dd1399010f7b75c05bb317d9b55fd">_glVertexData</a>;</div><div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a33ecd45565b8f5e0c197401ae123f41d">  296</a></span>&#160;  std::vector&lt;float&gt; <a class="code" href="../../d1/d03/class_draw_list.html#a33ecd45565b8f5e0c197401ae123f41d">_glNormalData</a>;</div><div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ac0aef2cc2264ca1235162615896ea0ef">  297</a></span>&#160;  std::vector&lt;float&gt; <a class="code" href="../../d1/d03/class_draw_list.html#ac0aef2cc2264ca1235162615896ea0ef">_glColorData</a>;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">  299</a></span>&#160;  std::vector&lt;QMatrix4x4&gt; <a class="code" href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">_modelOffsets</a>;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;</div><div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a6ad5e2e3e20f024d946f6401bff40db6">  301</a></span>&#160;  <span class="keywordtype">bool</span> _reloadNeeded = <span class="keyword">false</span>;</div><div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ac635d4bcde52c83b22ee7ff1d0e77591">  302</a></span>&#160;  <span class="keywordtype">bool</span> _additionalInfoFirstVisit = <span class="keyword">true</span>;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a299d7ff85411aee2c1d23ab3811ff990">  304</a></span>&#160;  <span class="keywordtype">size_t</span> _nTotalGC = 0;</div><div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a493e1dec912692167b31fdabf38d9465">  305</a></span>&#160;  std::vector&lt;bool&gt; <a class="code" href="../../d1/d03/class_draw_list.html#a493e1dec912692167b31fdabf38d9465">_cp_touch</a>;</div><div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ad6f0624ec344bf5fa4d7b6f15448add5">  306</a></span>&#160;  std::vector&lt;std::vector&lt;double&gt;&gt; <a class="code" href="../../d1/d03/class_draw_list.html#ad6f0624ec344bf5fa4d7b6f15448add5">_cp_pos</a>;</div><div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a79ab92764bba872938cbf747b9f31d75">  307</a></span>&#160;  std::vector&lt;std::vector&lt;double&gt;&gt; <a class="code" href="../../d1/d03/class_draw_list.html#a79ab92764bba872938cbf747b9f31d75">_cp_force</a>;</div><div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a3f6ebf6b29e4ce63096a7b2b7bf7e634">  308</a></span>&#160;  std::vector&lt;BoxInfo&gt; <a class="code" href="../../d1/d03/class_draw_list.html#a3f6ebf6b29e4ce63096a7b2b7bf7e634">_box_list</a>;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;</div><div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a58cc4ca2783638cc6f62d87be65895db">  310</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="../../d1/d03/class_draw_list.html#a58cc4ca2783638cc6f62d87be65895db">_grid_size</a>;</div><div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a77a0e0b4a883ba3e98603d06b6ba4a92">  311</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> <a class="code" href="../../d1/d03/class_draw_list.html#a77a0e0b4a883ba3e98603d06b6ba4a92">_height_map_left_corner</a>;</div><div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ad2b7998adf8f854f7f76baab2e9be030">  312</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat&lt;double&gt;</a> <a class="code" href="../../d1/d03/class_draw_list.html#ad2b7998adf8f854f7f76baab2e9be030">_height_map</a>;</div><div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a4ba48bfeb0767c9449fbd1f99a4f5f38">  313</a></span>&#160;  <span class="keywordtype">double</span> _height_map_max, <a class="code" href="../../d1/d03/class_draw_list.html#a4ba48bfeb0767c9449fbd1f99a4f5f38">_height_map_min</a>;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#aa78a4d0fd0138310c55e79319b98df40">  315</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> <a class="code" href="../../d1/d03/class_draw_list.html#aa78a4d0fd0138310c55e79319b98df40">_cameraOrigin</a>;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div><div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#ad45340cafc75f87ba4f9b90c8f77842c">  317</a></span>&#160;  <span class="keywordtype">size_t</span> _cheetah3LoadIndex = 0, _miniCheetahLoadIndex = 0,</div><div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="../../d1/d03/class_draw_list.html#a9ff0790fe3a16cc5fee352c4116414ac">  318</a></span>&#160;         _sphereLoadIndex = 0, _cubeLoadIndex = 0;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;};</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="preprocessor">#endif  // PROJECT_DRAWLIST_H</span></div><div class="ttc" id="class_draw_list_html_abd0bda993bf3d65a019abe27efbad85e"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#abd0bda993bf3d65a019abe27efbad85e">DrawList::_visualizationData</a></div><div class="ttdeci">VisualizationData * _visualizationData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00051">DrawList.h:51</a></div></div>
<div class="ttc" id="class_draw_list_html_a41da73cb979627fe8979420c6f5f014b"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a41da73cb979627fe8979420c6f5f014b">DrawList::_glArrayOffsets</a></div><div class="ttdeci">std::vector&lt; size_t &gt; _glArrayOffsets</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00292">DrawList.h:292</a></div></div>
<div class="ttc" id="sim__utilities_8h_html"><div class="ttname"><a href="../../d6/dff/sim__utilities_8h.html">sim_utilities.h</a></div><div class="ttdoc">Utility functions that exist only in the simulator. </div></div>
<div class="ttc" id="class_draw_list_html_a92618f3f33e825129a15eaf918a51ed3"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a92618f3f33e825129a15eaf918a51ed3">DrawList::_normalData</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; _normalData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00284">DrawList.h:284</a></div></div>
<div class="ttc" id="class_dynamics_simulator_html"><div class="ttname"><a href="../../d7/d9c/class_dynamics_simulator.html">DynamicsSimulator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d52/_dynamics_simulator_8h_source.html#l00040">DynamicsSimulator.h:40</a></div></div>
<div class="ttc" id="class_box_info_html_af35d62dc18d3545d719a67132a314315"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#af35d62dc18d3545d719a67132a314315">BoxInfo::height</a></div><div class="ttdeci">double height</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00033">DrawList.h:33</a></div></div>
<div class="ttc" id="class_draw_list_html_a09d57d9873d31279ece2cedd6a69cde8"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a09d57d9873d31279ece2cedd6a69cde8">DrawList::getGLDataSizeMB</a></div><div class="ttdeci">float getGLDataSizeMB()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00142">DrawList.h:142</a></div></div>
<div class="ttc" id="class_box_info_html_a5a645c5f04daa64c3a45112b8e654bf9"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#a5a645c5f04daa64c3a45112b8e654bf9">BoxInfo::depth</a></div><div class="ttdeci">double depth</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00033">DrawList.h:33</a></div></div>
<div class="ttc" id="class_draw_list_html_af0fc9c2f4849455032d374fa46cddb1c"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#af0fc9c2f4849455032d374fa46cddb1c">DrawList::_colorData</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; _colorData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00285">DrawList.h:285</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_dynamics_simulator_html_ada9c734b42dee7273707d5b0f2f8ddd7"><div class="ttname"><a href="../../d7/d9c/class_dynamics_simulator.html#ada9c734b42dee7273707d5b0f2f8ddd7">DynamicsSimulator::getNumBodies</a></div><div class="ttdeci">size_t getNumBodies()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d52/_dynamics_simulator_8h_source.html#l00111">DynamicsSimulator.h:111</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a807200f3771dbd2cb2e4be52c5f2518c"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a807200f3771dbd2cb2e4be52c5f2518c">DMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, Eigen::Dynamic, Eigen::Dynamic &gt; DMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00106">cppTypes.h:106</a></div></div>
<div class="ttc" id="class_draw_list_html_aab9869265b6079694a8dd5c42a17c567"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aab9869265b6079694a8dd5c42a17c567">DrawList::getNormalArray</a></div><div class="ttdeci">float * getNormalArray()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00114">DrawList.h:114</a></div></div>
<div class="ttc" id="class_draw_list_html_a493e1dec912692167b31fdabf38d9465"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a493e1dec912692167b31fdabf38d9465">DrawList::_cp_touch</a></div><div class="ttdeci">std::vector&lt; bool &gt; _cp_touch</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00305">DrawList.h:305</a></div></div>
<div class="ttc" id="_checkerboard_8h_html"><div class="ttname"><a href="../../dd/ddf/_checkerboard_8h.html">Checkerboard.h</a></div></div>
<div class="ttc" id="class_draw_list_html_ace6ada04eae854e63363b6b0bb73aa5f"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ace6ada04eae854e63363b6b0bb73aa5f">DrawList::_glArraySizes</a></div><div class="ttdeci">std::vector&lt; size_t &gt; _glArraySizes</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00293">DrawList.h:293</a></div></div>
<div class="ttc" id="class_draw_list_html_a16f13d471f1d2559b64e204b4e686589"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a16f13d471f1d2559b64e204b4e686589">DrawList::setSolidColor</a></div><div class="ttdeci">static void setSolidColor(std::vector&lt; float &gt; &amp;data, size_t size, float r, float g, float b)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00247">DrawList.h:247</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_draw_list_html_acdf51fca776b0e13bdbb756e40741442"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#acdf51fca776b0e13bdbb756e40741442">DrawList::getCameraOrigin</a></div><div class="ttdeci">const Vec3&lt; double &gt; &amp; getCameraOrigin()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00277">DrawList.h:277</a></div></div>
<div class="ttc" id="class_collision_plane_html"><div class="ttname"><a href="../../d4/d38/class_collision_plane.html">CollisionPlane</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/daf/_collision_plane_8h_source.html#l00018">CollisionPlane.h:18</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="class_dynamics_simulator_html_a9afb9649511f0eb19f953bf470d80252"><div class="ttname"><a href="../../d7/d9c/class_dynamics_simulator.html#a9afb9649511f0eb19f953bf470d80252">DynamicsSimulator::getContactForce</a></div><div class="ttdeci">const Vec3&lt; T &gt; &amp; getContactForce(size_t idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d52/_dynamics_simulator_8h_source.html#l00114">DynamicsSimulator.h:114</a></div></div>
<div class="ttc" id="struct_visualization_data_html"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html">VisualizationData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00060">VisualizationData.h:60</a></div></div>
<div class="ttc" id="class_draw_list_html_afab0fbc56961ba8e101a2b28188efd98"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#afab0fbc56961ba8e101a2b28188efd98">DrawList::updateRobotFromModel</a></div><div class="ttdeci">void updateRobotFromModel(DynamicsSimulator&lt; T &gt; &amp;model, size_t id, bool updateOrigin=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00170">DrawList.h:170</a></div></div>
<div class="ttc" id="class_draw_list_html_a7e534d8c347988e376edebd04a5a7914"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a7e534d8c347988e376edebd04a5a7914">DrawList::DrawList</a></div><div class="ttdeci">DrawList()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00053">DrawList.h:53</a></div></div>
<div class="ttc" id="class_draw_list_html_a79ab92764bba872938cbf747b9f31d75"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a79ab92764bba872938cbf747b9f31d75">DrawList::_cp_force</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; double &gt; &gt; _cp_force</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00307">DrawList.h:307</a></div></div>
<div class="ttc" id="class_draw_list_html_ae4b99509d0985cf5302c0ce09e6eb715"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ae4b99509d0985cf5302c0ce09e6eb715">DrawList::getGCPos</a></div><div class="ttdeci">const std::vector&lt; double &gt; &amp; getGCPos(size_t idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00265">DrawList.h:265</a></div></div>
<div class="ttc" id="class_draw_list_html_aaee2e45bbb2e8a546feafbedf967d034"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aaee2e45bbb2e8a546feafbedf967d034">DrawList::getColorArray</a></div><div class="ttdeci">float * getColorArray()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00121">DrawList.h:121</a></div></div>
<div class="ttc" id="class_draw_list_html_ad7d97925f1406d116bbbb31f53c2da88"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ad7d97925f1406d116bbbb31f53c2da88">DrawList::_instanceColor</a></div><div class="ttdeci">vectorAligned&lt; SolidColor &gt; _instanceColor</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00278">DrawList.h:278</a></div></div>
<div class="ttc" id="class_draw_list_html_a9638d3da87f1198fdcb32d2b624f937d"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a9638d3da87f1198fdcb32d2b624f937d">DrawList::getHeightMapLeftCorner</a></div><div class="ttdeci">const Vec3&lt; double &gt; &amp; getHeightMapLeftCorner()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00270">DrawList.h:270</a></div></div>
<div class="ttc" id="class_dynamics_simulator_html_a2b183b6e004182044db7e31eb807e6f4"><div class="ttname"><a href="../../d7/d9c/class_dynamics_simulator.html#a2b183b6e004182044db7e31eb807e6f4">DynamicsSimulator::getTotalNumGC</a></div><div class="ttdeci">const size_t &amp; getTotalNumGC()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d52/_dynamics_simulator_8h_source.html#l00113">DynamicsSimulator.h:113</a></div></div>
<div class="ttc" id="class_draw_list_html_a3f6ebf6b29e4ce63096a7b2b7bf7e634"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a3f6ebf6b29e4ce63096a7b2b7bf7e634">DrawList::_box_list</a></div><div class="ttdeci">std::vector&lt; BoxInfo &gt; _box_list</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00308">DrawList.h:308</a></div></div>
<div class="ttc" id="class_draw_list_html_aae457f1b062620bc3a23d94d9397a49b"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aae457f1b062620bc3a23d94d9397a49b">DrawList::_kinematicXform</a></div><div class="ttdeci">std::vector&lt; QMatrix4x4 &gt; _kinematicXform</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00279">DrawList.h:279</a></div></div>
<div class="ttc" id="class_draw_list_html_a28c47507efc9fd58fdf8ee6488b594f3"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a28c47507efc9fd58fdf8ee6488b594f3">DrawList::resize</a></div><div class="ttdeci">void resize(size_t nUniqueObject, size_t nTotalObjects)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00072">DrawList.h:72</a></div></div>
<div class="ttc" id="class_draw_list_html_a77a0e0b4a883ba3e98603d06b6ba4a92"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a77a0e0b4a883ba3e98603d06b6ba4a92">DrawList::_height_map_left_corner</a></div><div class="ttdeci">Vec3&lt; double &gt; _height_map_left_corner</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00311">DrawList.h:311</a></div></div>
<div class="ttc" id="_collision_plane_8h_html"><div class="ttname"><a href="../../d2/daf/_collision_plane_8h.html">CollisionPlane.h</a></div><div class="ttdoc">Collision logic for an infinite plane. </div></div>
<div class="ttc" id="class_draw_list_html_a0c41b0aa912c97b04b58c6fcedcb34a0"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a0c41b0aa912c97b04b58c6fcedcb34a0">DrawList::getSizeOfAllData</a></div><div class="ttdeci">size_t getSizeOfAllData()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00116">DrawList.h:116</a></div></div>
<div class="ttc" id="class_draw_list_html_ac0aef2cc2264ca1235162615896ea0ef"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ac0aef2cc2264ca1235162615896ea0ef">DrawList::_glColorData</a></div><div class="ttdeci">std::vector&lt; float &gt; _glColorData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00297">DrawList.h:297</a></div></div>
<div class="ttc" id="class_draw_list_html_ac5b1d94476402e453f2b3446ed846edc"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ac5b1d94476402e453f2b3446ed846edc">DrawList::getNumObjectsToDraw</a></div><div class="ttdeci">size_t getNumObjectsToDraw()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00085">DrawList.h:85</a></div></div>
<div class="ttc" id="class_draw_list_html_aa78a4d0fd0138310c55e79319b98df40"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aa78a4d0fd0138310c55e79319b98df40">DrawList::_cameraOrigin</a></div><div class="ttdeci">Vec3&lt; double &gt; _cameraOrigin</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00315">DrawList.h:315</a></div></div>
<div class="ttc" id="class_draw_list_html_abb4874ec78af884a830aef981e580137"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#abb4874ec78af884a830aef981e580137">DrawList::getModelKinematicTransform</a></div><div class="ttdeci">QMatrix4x4 &amp; getModelKinematicTransform(size_t i)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00134">DrawList.h:134</a></div></div>
<div class="ttc" id="class_draw_list_html_ab7f8da510907ff8c2a00488dba9f1631"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ab7f8da510907ff8c2a00488dba9f1631">DrawList::getHeightMapMax</a></div><div class="ttdeci">const double &amp; getHeightMapMax()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00273">DrawList.h:273</a></div></div>
<div class="ttc" id="class_draw_list_html_abd07faa05bc696fb43bd0fdb9467dfe5"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#abd07faa05bc696fb43bd0fdb9467dfe5">DrawList::getVertexArray</a></div><div class="ttdeci">float * getVertexArray()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00108">DrawList.h:108</a></div></div>
<div class="ttc" id="class_draw_list_html_a1e061a3a3e49ebfa5cda903410138397"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a1e061a3a3e49ebfa5cda903410138397">DrawList::getTotalNumGC</a></div><div class="ttdeci">const size_t &amp; getTotalNumGC()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00264">DrawList.h:264</a></div></div>
<div class="ttc" id="class_draw_list_html_a833836ab4d537a8f3ba6a671b1b39b47"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a833836ab4d537a8f3ba6a671b1b39b47">DrawList::_offsetXforms</a></div><div class="ttdeci">vectorAligned&lt; Mat4&lt; float &gt; &gt; _offsetXforms</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00287">DrawList.h:287</a></div></div>
<div class="ttc" id="class_checkerboard_html"><div class="ttname"><a href="../../df/d89/class_checkerboard.html">Checkerboard</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dd/ddf/_checkerboard_8h_source.html#l00015">Checkerboard.h:15</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="class_draw_list_html_ad2b7998adf8f854f7f76baab2e9be030"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ad2b7998adf8f854f7f76baab2e9be030">DrawList::_height_map</a></div><div class="ttdeci">DMat&lt; double &gt; _height_map</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00312">DrawList.h:312</a></div></div>
<div class="ttc" id="class_box_info_html_aeaecda58b04b05ff6e4f12e0a75eedaa"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#aeaecda58b04b05ff6e4f12e0a75eedaa">BoxInfo::frame</a></div><div class="ttdeci">float frame[16]</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00034">DrawList.h:34</a></div></div>
<div class="ttc" id="class_dynamics_simulator_html_a72892f39ed60e2f50df53ea49ffb6433"><div class="ttname"><a href="../../d7/d9c/class_dynamics_simulator.html#a72892f39ed60e2f50df53ea49ffb6433">DynamicsSimulator::getState</a></div><div class="ttdeci">const FBModelState&lt; T &gt; &amp; getState() const </div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d52/_dynamics_simulator_8h_source.html#l00074">DynamicsSimulator.h:74</a></div></div>
<div class="ttc" id="class_draw_list_html_ae3f55365bc72bedb51b835533c515861"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ae3f55365bc72bedb51b835533c515861">DrawList::updateCheckerboard</a></div><div class="ttdeci">void updateCheckerboard(T height, size_t id)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00229">DrawList.h:229</a></div></div>
<div class="ttc" id="class_draw_list_html_a4ba48bfeb0767c9449fbd1f99a4f5f38"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a4ba48bfeb0767c9449fbd1f99a4f5f38">DrawList::_height_map_min</a></div><div class="ttdeci">double _height_map_min</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00313">DrawList.h:313</a></div></div>
<div class="ttc" id="class_draw_list_html_a33ecd45565b8f5e0c197401ae123f41d"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a33ecd45565b8f5e0c197401ae123f41d">DrawList::_glNormalData</a></div><div class="ttdeci">std::vector&lt; float &gt; _glNormalData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00296">DrawList.h:296</a></div></div>
<div class="ttc" id="class_draw_list_html_a2c6f1f169cca762878ec1a46e4dbfcba"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a2c6f1f169cca762878ec1a46e4dbfcba">DrawList::getGLDrawArraySize</a></div><div class="ttdeci">size_t getGLDrawArraySize(size_t i)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00100">DrawList.h:100</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a078e1eaa8a3af13cef27a0a8d0c1302e"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a></div><div class="ttdeci">typename std::vector&lt; T, Eigen::aligned_allocator&lt; T &gt;&gt; vectorAligned</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00118">cppTypes.h:118</a></div></div>
<div class="ttc" id="class_draw_list_html_a898088086b85b7f6a37b9237fbcc5ab6"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a898088086b85b7f6a37b9237fbcc5ab6">DrawList::_objectMap</a></div><div class="ttdeci">std::vector&lt; size_t &gt; _objectMap</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00290">DrawList.h:290</a></div></div>
<div class="ttc" id="class_draw_list_html_a55249ea44dfcabccd883215d9132a11c"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a55249ea44dfcabccd883215d9132a11c">DrawList::needsReload</a></div><div class="ttdeci">bool needsReload()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00153">DrawList.h:153</a></div></div>
<div class="ttc" id="obj__loader_8h_html"><div class="ttname"><a href="../../d3/d01/obj__loader_8h.html">obj_loader.h</a></div><div class="ttdoc">Utility to load .obj files, containing 3D models of robots. </div></div>
<div class="ttc" id="struct_solid_color_html"><div class="ttname"><a href="../../d9/da5/struct_solid_color.html">SolidColor</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00043">DrawList.h:43</a></div></div>
<div class="ttc" id="class_draw_list_html_a055ac7767e2fc4647a95b3118f975bbf"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a055ac7767e2fc4647a95b3118f975bbf">DrawList::updateDebugSphereLocation</a></div><div class="ttdeci">void updateDebugSphereLocation(Vec3&lt; T &gt; &amp;position, size_t id)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00237">DrawList.h:237</a></div></div>
<div class="ttc" id="namespaceori_html"><div class="ttname"><a href="../../da/d9b/namespaceori.html">ori</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00028">orientation_tools.h:28</a></div></div>
<div class="ttc" id="class_box_info_html_a71d33a11829ce75ed6a2e3020dccf9fa"><div class="ttname"><a href="../../d3/d7a/class_box_info.html#a71d33a11829ce75ed6a2e3020dccf9fa">BoxInfo::width</a></div><div class="ttdeci">double width</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00033">DrawList.h:33</a></div></div>
<div class="ttc" id="class_box_info_html"><div class="ttname"><a href="../../d3/d7a/class_box_info.html">BoxInfo</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00031">DrawList.h:31</a></div></div>
<div class="ttc" id="class_draw_list_html_a394291a36ef4635a0c1ae25462d8ac5b"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a394291a36ef4635a0c1ae25462d8ac5b">DrawList::getBoxInfoList</a></div><div class="ttdeci">const std::vector&lt; BoxInfo &gt; &amp; getBoxInfoList()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00267">DrawList.h:267</a></div></div>
<div class="ttc" id="class_draw_list_html_a58cc4ca2783638cc6f62d87be65895db"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a58cc4ca2783638cc6f62d87be65895db">DrawList::_grid_size</a></div><div class="ttdeci">double _grid_size</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00310">DrawList.h:310</a></div></div>
<div class="ttc" id="class_draw_list_html_ae20412e460d33e4dded35cb43818ae17"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ae20412e460d33e4dded35cb43818ae17">DrawList::getGLDrawArrayOffset</a></div><div class="ttdeci">size_t getGLDrawArrayOffset(size_t i)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00093">DrawList.h:93</a></div></div>
<div class="ttc" id="_dynamics_simulator_8h_html"><div class="ttname"><a href="../../d0/d52/_dynamics_simulator_8h.html">DynamicsSimulator.h</a></div><div class="ttdoc">Rigid Body Dynamics Simulator with Collisions. </div></div>
<div class="ttc" id="class_draw_list_html_a1da39873b6f2f1c605c49678247e23e0"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a1da39873b6f2f1c605c49678247e23e0">DrawList::getGridSize</a></div><div class="ttdeci">const double &amp; getGridSize()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00275">DrawList.h:275</a></div></div>
<div class="ttc" id="class_draw_list_html_a551da4edf5a5774dcc79bf6e0edf2b2c"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a551da4edf5a5774dcc79bf6e0edf2b2c">DrawList::updateAdditionalInfo</a></div><div class="ttdeci">void updateAdditionalInfo(DynamicsSimulator&lt; T &gt; &amp;model)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00191">DrawList.h:191</a></div></div>
<div class="ttc" id="struct_solid_color_html_adc4e36b1041c32cb7f421da84c9f0fe5"><div class="ttname"><a href="../../d9/da5/struct_solid_color.html#adc4e36b1041c32cb7f421da84c9f0fe5">SolidColor::rgba</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec4&lt; float &gt; rgba</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00045">DrawList.h:45</a></div></div>
<div class="ttc" id="class_draw_list_html_ac33dd1399010f7b75c05bb317d9b55fd"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ac33dd1399010f7b75c05bb317d9b55fd">DrawList::_glVertexData</a></div><div class="ttdeci">std::vector&lt; float &gt; _glVertexData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00295">DrawList.h:295</a></div></div>
<div class="ttc" id="struct_solid_color_html_a0ca2ec6cd9c381c967ce213d425fae39"><div class="ttname"><a href="../../d9/da5/struct_solid_color.html#a0ca2ec6cd9c381c967ce213d425fae39">SolidColor::useSolidColor</a></div><div class="ttdeci">bool useSolidColor</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00046">DrawList.h:46</a></div></div>
<div class="ttc" id="class_draw_list_html_ad6f0624ec344bf5fa4d7b6f15448add5"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ad6f0624ec344bf5fa4d7b6f15448add5">DrawList::_cp_pos</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; double &gt; &gt; _cp_pos</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00306">DrawList.h:306</a></div></div>
<div class="ttc" id="class_draw_list_html_acaddb6c8d3e5dae59c9c6cf7b0ba1e00"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#acaddb6c8d3e5dae59c9c6cf7b0ba1e00">DrawList::getModelBaseTransform</a></div><div class="ttdeci">QMatrix4x4 &amp; getModelBaseTransform(size_t i)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00128">DrawList.h:128</a></div></div>
<div class="ttc" id="class_dynamics_simulator_html_a560cb59e43a731fd2a8bb4f54b4086bd"><div class="ttname"><a href="../../d7/d9c/class_dynamics_simulator.html#a560cb59e43a731fd2a8bb4f54b4086bd">DynamicsSimulator::getModel</a></div><div class="ttdeci">const FloatingBaseModel&lt; T &gt; &amp; getModel()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d52/_dynamics_simulator_8h_source.html#l00118">DynamicsSimulator.h:118</a></div></div>
<div class="ttc" id="_visualization_data_8h_html"><div class="ttname"><a href="../../df/d0d/_visualization_data_8h.html">VisualizationData.h</a></div></div>
<div class="ttc" id="_colors_8h_html"><div class="ttname"><a href="../../dc/daa/_colors_8h.html">Colors.h</a></div><div class="ttdoc">Some colors commonly used in the simulator. </div></div>
<div class="ttc" id="_floating_base_model_8h_html"><div class="ttname"><a href="../../d5/d9a/_floating_base_model_8h.html">FloatingBaseModel.h</a></div><div class="ttdoc">Implementation of Rigid Body Floating Base model data structure. </div></div>
<div class="ttc" id="class_draw_list_html_a7f1af5bbb384f1298b9b0a651576f2c9"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a7f1af5bbb384f1298b9b0a651576f2c9">DrawList::updateCheckerboardFromCollisionPlane</a></div><div class="ttdeci">void updateCheckerboardFromCollisionPlane(CollisionPlane&lt; T &gt; &amp;model, size_t id)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00222">DrawList.h:222</a></div></div>
<div class="ttc" id="class_draw_list_html_a0c2c941704b8e8099f5dc4fb7f2d13f9"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a0c2c941704b8e8099f5dc4fb7f2d13f9">DrawList::getGCForce</a></div><div class="ttdeci">const std::vector&lt; double &gt; &amp; getGCForce(size_t idx)</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00266">DrawList.h:266</a></div></div>
<div class="ttc" id="class_draw_list_html_ae2b3381013216191dbfe884adf21c0dd"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ae2b3381013216191dbfe884adf21c0dd">DrawList::getHeightMap</a></div><div class="ttdeci">const DMat&lt; double &gt; &amp; getHeightMap()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00269">DrawList.h:269</a></div></div>
<div class="ttc" id="class_draw_list_html_a669c697866c96ab734e134811f047afc"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#a669c697866c96ab734e134811f047afc">DrawList::getHeightMapMin</a></div><div class="ttdeci">const double &amp; getHeightMapMin()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00274">DrawList.h:274</a></div></div>
<div class="ttc" id="spatial_8h_html"><div class="ttname"><a href="../../d9/dc8/spatial_8h.html">spatial.h</a></div><div class="ttdoc">Utility functions for manipulating spatial quantities. </div></div>
<div class="ttc" id="class_draw_list_html_ae25a70da628ea394f2ba1309532c74ed"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#ae25a70da628ea394f2ba1309532c74ed">DrawList::_modelOffsets</a></div><div class="ttdeci">std::vector&lt; QMatrix4x4 &gt; _modelOffsets</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00299">DrawList.h:299</a></div></div>
<div class="ttc" id="sim__utilities_8h_html_a0f56070ba183dd4f6f435a4619134429"><div class="ttname"><a href="../../d6/dff/sim__utilities_8h.html#a0f56070ba183dd4f6f435a4619134429">spatialTransformToQT</a></div><div class="ttdeci">QMatrix4x4 spatialTransformToQT(const Eigen::MatrixBase&lt; T &gt; &amp;X)</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dff/sim__utilities_8h_source.html#l00023">sim_utilities.h:23</a></div></div>
<div class="ttc" id="class_draw_list_html"><div class="ttname"><a href="../../d1/d03/class_draw_list.html">DrawList</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00049">DrawList.h:49</a></div></div>
<div class="ttc" id="class_draw_list_html_aac717d947f5534d6a8e3bbec220c5e42"><div class="ttname"><a href="../../d1/d03/class_draw_list.html#aac717d947f5534d6a8e3bbec220c5e42">DrawList::_vertexData</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; float &gt; &gt; _vertexData</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d65/_draw_list_8h_source.html#l00283">DrawList.h:283</a></div></div>
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